Hydraulic active suspension controlled with side force compensation at respective vehicle wheels

Claim 1

A hydraulic active suspension of a vehicle body suspended on a plurality of vehicle wheels of a vehicle, comprising: a plurality of suspension links each suspending a portion of said vehicle body relative to an associated one of said plurality of vehicle wheels; a plurality of actuators each having a working fluid chamber, wherein one actuator in said plurality of actuators is associated with a corresponding one of said vehicle wheels to increase or decrease a suspension force of said corresponding vehicle wheel according to an increase or a decrease of a pressure in said working fluid chamber; pressure adjusting means for adjusting said pressure in each of said working fluid chambers; vehicle height detection means for detecting a height of said portion of said vehicle body corresponding to each of said vehicle wheels; acceleration detection means for detecting an acceleration of said vehicle body; feedback control amount calculation means for determining whether said vehicle height at each of said portions of said vehicle body is within acceptable parameters and for calculating feedback control amounts based on a result of said vehicle height determination; feed forward control amount calculation means for determining vertical forces acting on said vehicle body at said portion of said vehicle body associated with each of said vehicle wheels based on said acceleration detected by said acceleration detecting means and for calculating feed forward control amounts based upon said determined vertical forces; side force detection means for detecting a side force acting on each of said vehicle wheels from a ground surface; link reaction force calculation means for calculating a vertical link reaction force acting through each of said suspension links between each of said vehicle wheels and each of said vehicle body portions corresponding thereto based on each of said side forces corresponding to said associated vehicle wheels; compensation means for compensating said feed forward control amounts based upon said link reaction forces calculated by said link reaction force calculation means; and control means for controlling said pressure adjusting means based upon said feedback control amounts and said feed forward control amounts compensated by said link reaction forces via said compensation means.